"I don't think that was your best dance," Carrie Ann Inaba said of the touchy-feely performance, which had audience members practically melting in the ballroom and the judges talking about "hip action," "Viagra" and "ecstasy."

"I'd like to see more content," Carrie Ann added, "because you're not just a pretty face, you are a beautiful dancer, and I'd like to see more dancing."

"I understand in the quickstep if we're sexy, then obviously it makes no sense, but the rumba is the dance of love," Burke, 27, told PEOPLE after the show, countering Len Goodman's criticism that their turn on the dance floor was "too raunchy." "It's the only dance that's full of passion like that."

Adds Levy, 31: "I think there's never [anything] too sexy." (Case in point.) "I actually think that was a compliment to say that this rumba was too raunchy, whatever that is."